/**
* This file is part of Simox.
*
* Simox is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* Simox is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package    VirtualRobot
* @author     Manfred Kroehnert, Nikolaus Vahrenkamp
* @copyright  2010,2011 Manfred Kroehnert, Nikolaus Vahrenkamp
*             GNU Lesser General Public License
*
*/
#pragma once

#include "../VirtualRobot.h"
#include "../AbstractFactoryMethod.h"
#include "../Transformation/DHParameter.h"
#include "RobotNode.h"

#include <Eigen/Core>



namespace VirtualRobot
{

    class VIRTUAL_ROBOT_IMPORT_EXPORT RobotNodeFactory  : public AbstractFactoryMethod<RobotNodeFactory, void*>
    {
    public:
        RobotNodeFactory()
        {
            ;
        }
        virtual ~RobotNodeFactory()
        {
            ;
        }

        virtual RobotNodePtr createRobotNode(RobotPtr /*robot*/, const std::string& /*nodeName*/, VisualizationNodePtr /*visualizationModel*/, CollisionModelPtr /*collisionModel*/, float /*limitLow*/, float /*limitHigh*/, float /*jointValueOffset*/, const Eigen::Matrix4f& /*preJointTransform*/, const Eigen::Vector3f& /*axis*/, const Eigen::Vector3f& /*translationDirection*/, const SceneObject::Physics& /*p*/ = SceneObject::Physics(), RobotNode::RobotNodeType /*rntype*/ = RobotNode::Generic) const
        {
            return RobotNodePtr();
        }
        virtual RobotNodePtr createRobotNodeDH(RobotPtr /*robot*/, const std::string& /*nodeName*/, VisualizationNodePtr /*visualizationModel*/, CollisionModelPtr /*collisionModel*/, float /*limitLow*/, float /*limitHigh*/, float /*jointValueOffset*/, const DHParameter& /*dhParameters*/, const SceneObject::Physics& /*p*/ = SceneObject::Physics(), RobotNode::RobotNodeType /*rntype*/ = RobotNode::Generic) const
        {
            return RobotNodePtr();
        }
    };

} // namespace VirtualRobot

